| 新型球形机器人控制系统双处理器通信机制研究 |
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| 引用本文： | 曹勇刚,罗庆生,韩宝玲,赵小川.新型球形机器人控制系统双处理器通信机制研究[J].计算机测量与控制,2009,17(7):1311-1313,1355. |
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| 作者姓名： | 曹勇刚 罗庆生 韩宝玲 赵小川 |
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| 作者单位： | 1. 北京理工大学机电工程学院,北京,100081
2. 北京理工大学机械与车辆学院,北京,100081 |
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| 摘 要： | 根据新型球形机器人的整体要求,建立了以ARM9系列的S3C2410控制芯片和DSP6000系列的TMS320DM642图像处理芯片为核心的机器人控制系统主体架构,提出了S3C2410芯片外部I/O与DM642芯片HPI口的硬件连接方式和基于ARM-Linux的HPI驱动程序的软件开发方法,在需要图像处理能力和运动控制效果能够综合协调的球形机器人控制系统中,通过HPI接口的软硬件设计,实现了S3C2410与DM642的高速通信;实验结果表明,接口数据读写快速稳定,所完成的工作和所提出的方法对以后其他双核接口的设计与开发具有一定的指导作用与参考价值。
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| 关 键 词： | 控制系统 通信接口 HPI ARM-Linux驱动设计 |
Study of Dual-processor Communication Model Based on New Type of Ball Robot Control System |
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| Cao Yonggang,Luo Qingsheng,Hun Baoling,Zhao Xiaochuan.Study of Dual-processor Communication Model Based on New Type of Ball Robot Control System[J].Computer Measurement & Control,2009,17(7):1311-1313,1355. |
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| Authors: | Cao Yonggang Luo Qingsheng Hun Baoling Zhao Xiaochuan |
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| Affiliation: | 1.School of Mechanical-electronic Engineering;Beijing Institute of Technology;2.School of Mechanical and Vehicular Engineering;Beijing 100081;China |
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| Abstract: | Due to the working characteristic of the Ball Robot,a hardware control platform based on ARM9 series chip S3C2410 and DSP6000 series chip TMS320DM642 is built,and a communication way between those two chips was put forward to meet the requirements of the corresponding relation of the detecting function and motion controlling function.The communication interface is carried out by the HPI technology and the ARM-Linux driver developing way.The experiment showed that the interface transmitted and received the d... |
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| Keywords: | HPI control system communication interface HPI ARM-Linux driver design |
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